diff --git a/sw/airborne/arch/sim/mcu_periph/adc_arch.h b/sw/airborne/arch/sim/mcu_periph/adc_arch.h
diff --git a/sw/airborne/arch/sim/mcu_periph/i2c_arch.c b/sw/airborne/arch/sim/mcu_periph/i2c_arch.c
diff --git a/sw/airborne/arch/sim/mcu_periph/i2c_arch.h b/sw/airborne/arch/sim/mcu_periph/i2c_arch.h
diff --git a/sw/airborne/arch/sim/mcu_periph/spi_arch.c b/sw/airborne/arch/sim/mcu_periph/spi_arch.c
diff --git a/sw/airborne/arch/sim/mcu_periph/spi_arch.h b/sw/airborne/arch/sim/mcu_periph/spi_arch.h
diff --git a/sw/airborne/arch/sim/mcu_periph/sys_time_arch.c b/sw/airborne/arch/sim/mcu_periph/sys_time_arch.c
diff --git a/sw/airborne/arch/sim/mcu_periph/sys_time_arch.h b/sw/airborne/arch/sim/mcu_periph/sys_time_arch.h
diff --git a/sw/airborne/arch/sim/mcu_periph/uart_arch.h b/sw/airborne/arch/sim/mcu_periph/uart_arch.h
diff --git a/sw/airborne/arch/sim/micromag_hw.c b/sw/airborne/arch/sim/micromag_hw.c
diff --git a/sw/airborne/arch/sim/micromag_hw.h b/sw/airborne/arch/sim/micromag_hw.h
diff --git a/sw/airborne/arch/sim/servos_nil.h b/sw/airborne/arch/sim/servos_nil.h
diff --git a/sw/airborne/arch/sim/sim_ap.c b/sw/airborne/arch/sim/sim_ap.c
diff --git a/sw/airborne/arch/sim/subsystems/radio_control/ppm_arch.c b/sw/airborne/arch/sim/subsystems/radio_control/ppm_arch.c
diff --git a/sw/airborne/arch/stm32/TIM_usage_list.txt b/sw/airborne/arch/stm32/TIM_usage_list.txt
diff --git a/sw/airborne/arch/stm32/interrupt_hw.h b/sw/airborne/arch/stm32/interrupt_hw.h
diff --git a/sw/airborne/arch/stm32/mcu_arch.c b/sw/airborne/arch/stm32/mcu_arch.c
diff --git a/sw/airborne/arch/stm32/mcu_arch.h b/sw/airborne/arch/stm32/mcu_arch.h
diff --git a/sw/airborne/arch/stm32/mcu_periph/adc_arch.c b/sw/airborne/arch/stm32/mcu_periph/adc_arch.c
diff --git a/sw/airborne/arch/stm32/mcu_periph/adc_arch.h b/sw/airborne/arch/stm32/mcu_periph/adc_arch.h
diff --git a/sw/airborne/arch/stm32/mcu_periph/can_arch.c b/sw/airborne/arch/stm32/mcu_periph/can_arch.c
diff --git a/sw/airborne/arch/stm32/mcu_periph/can_arch.h b/sw/airborne/arch/stm32/mcu_periph/can_arch.h
diff --git a/sw/airborne/arch/stm32/mcu_periph/debug_led.h b/sw/airborne/arch/stm32/mcu_periph/debug_led.h
diff --git a/sw/airborne/arch/stm32/mcu_periph/gpio_arch.h b/sw/airborne/arch/stm32/mcu_periph/gpio_arch.h
diff --git a/sw/airborne/arch/stm32/mcu_periph/i2c_arch.c b/sw/airborne/arch/stm32/mcu_periph/i2c_arch.c
diff --git a/sw/airborne/arch/stm32/mcu_periph/i2c_arch.h b/sw/airborne/arch/stm32/mcu_periph/i2c_arch.h
diff --git a/sw/airborne/arch/stm32/mcu_periph/obsolete/i2c_arch.old.c b/sw/airborne/arch/stm32/mcu_periph/obsolete/i2c_arch.old.c
diff --git a/sw/airborne/arch/stm32/mcu_periph/obsolete/i2c_arch.very_old.c b/sw/airborne/arch/stm32/mcu_periph/obsolete/i2c_arch.very_old.c
diff --git a/sw/airborne/arch/stm32/mcu_periph/obsolete/i2c_attempt1.c b/sw/airborne/arch/stm32/mcu_periph/obsolete/i2c_attempt1.c
diff --git a/sw/airborne/arch/stm32/mcu_periph/obsolete/i2c_attempt2_nolib.c b/sw/airborne/arch/stm32/mcu_periph/obsolete/i2c_attempt2_nolib.c
diff --git a/sw/airborne/arch/stm32/mcu_periph/obsolete/i2c_attempt3_subtra.c b/sw/airborne/arch/stm32/mcu_periph/obsolete/i2c_attempt3_subtra.c
diff --git a/sw/airborne/arch/stm32/mcu_periph/obsolete/i2c_attempt4_nodouble_isr.c b/sw/airborne/arch/stm32/mcu_periph/obsolete/i2c_attempt4_nodouble_isr.c
diff --git a/sw/airborne/arch/stm32/mcu_periph/spi_arch.c b/sw/airborne/arch/stm32/mcu_periph/spi_arch.c
diff --git a/sw/airborne/arch/stm32/mcu_periph/spi_arch.h b/sw/airborne/arch/stm32/mcu_periph/spi_arch.h
diff --git a/sw/airborne/arch/stm32/mcu_periph/sys_time_arch.c b/sw/airborne/arch/stm32/mcu_periph/sys_time_arch.c
diff --git a/sw/airborne/arch/stm32/mcu_periph/sys_time_arch.h b/sw/airborne/arch/stm32/mcu_periph/sys_time_arch.h
diff --git a/sw/airborne/arch/stm32/mcu_periph/uart_arch.c b/sw/airborne/arch/stm32/mcu_periph/uart_arch.c
diff --git a/sw/airborne/arch/stm32/mcu_periph/uart_arch.h b/sw/airborne/arch/stm32/mcu_periph/uart_arch.h
diff --git a/sw/airborne/arch/stm32/peripherals/max1168_arch.c b/sw/airborne/arch/stm32/peripherals/max1168_arch.c
diff --git a/sw/airborne/arch/stm32/peripherals/ms2100_arch.c b/sw/airborne/arch/stm32/peripherals/ms2100_arch.c
diff --git a/sw/airborne/arch/stm32/peripherals/ms2100_arch.h b/sw/airborne/arch/stm32/peripherals/ms2100_arch.h
diff --git a/sw/airborne/arch/stm32/subsystems/actuators/actuators_pwm_arch.c b/sw/airborne/arch/stm32/subsystems/actuators/actuators_pwm_arch.c
diff --git a/sw/airborne/arch/stm32/subsystems/actuators/actuators_pwm_arch.h b/sw/airborne/arch/stm32/subsystems/actuators/actuators_pwm_arch.h
diff --git a/sw/airborne/arch/stm32/subsystems/imu/imu_aspirin_arch.c b/sw/airborne/arch/stm32/subsystems/imu/imu_aspirin_arch.c
diff --git a/sw/airborne/arch/stm32/subsystems/imu/imu_aspirin_arch.h b/sw/airborne/arch/stm32/subsystems/imu/imu_aspirin_arch.h
diff --git a/sw/airborne/arch/stm32/subsystems/radio_control/ppm_arch.c b/sw/airborne/arch/stm32/subsystems/radio_control/ppm_arch.c
diff --git a/sw/airborne/arch/stm32/subsystems/radio_control/ppm_arch.h b/sw/airborne/arch/stm32/subsystems/radio_control/ppm_arch.h
diff --git a/sw/airborne/arch/stm32/subsystems/radio_control/spektrum_arch.c b/sw/airborne/arch/stm32/subsystems/radio_control/spektrum_arch.c
diff --git a/sw/airborne/boards/booz_1.0.h b/sw/airborne/boards/booz_1.0.h
diff --git a/sw/airborne/boards/lia/baro_board.h b/sw/airborne/boards/lia/baro_board.h
diff --git a/sw/airborne/boards/lia_1.1.h b/sw/airborne/boards/lia_1.1.h
diff --git a/sw/airborne/boards/lisa_l_1.0.h b/sw/airborne/boards/lisa_l_1.0.h
diff --git a/sw/airborne/boards/lisa_m/baro_board.c b/sw/airborne/boards/lisa_m/baro_board.c
diff --git a/sw/airborne/boards/lisa_m/baro_board.h b/sw/airborne/boards/lisa_m/baro_board.h
diff --git a/sw/airborne/boards/lisa_m/baro_ms5611_i2c.c b/sw/airborne/boards/lisa_m/baro_ms5611_i2c.c
diff --git a/sw/airborne/boards/lisa_m/baro_ms5611_spi.c b/sw/airborne/boards/lisa_m/baro_ms5611_spi.c
diff --git a/sw/airborne/boards/lisa_m/test_baro.c b/sw/airborne/boards/lisa_m/test_baro.c
diff --git a/sw/airborne/boards/lisa_m_1.0.h b/sw/airborne/boards/lisa_m_1.0.h
diff --git a/sw/airborne/boards/lisa_m_2.0.h b/sw/airborne/boards/lisa_m_2.0.h
diff --git a/sw/airborne/boards/navgo/imu_navgo.c b/sw/airborne/boards/navgo/imu_navgo.c
diff --git a/sw/airborne/boards/navgo/imu_navgo.h b/sw/airborne/boards/navgo/imu_navgo.h
diff --git a/sw/airborne/boards/pc_sim.h b/sw/airborne/boards/pc_sim.h
diff --git a/sw/airborne/boards/tiny_0.99.h b/sw/airborne/boards/tiny_0.99.h
diff --git a/sw/airborne/boards/tiny_1.1.h b/sw/airborne/boards/tiny_1.1.h
diff --git a/sw/airborne/boards/tiny_2.0.h b/sw/airborne/boards/tiny_2.0.h
diff --git a/sw/airborne/boards/tiny_2.1.h b/sw/airborne/boards/tiny_2.1.h
diff --git a/sw/airborne/boards/tiny_sim.h b/sw/airborne/boards/tiny_sim.h
diff --git a/sw/airborne/boards/umarim/imu_umarim.c b/sw/airborne/boards/umarim/imu_umarim.c
diff --git a/sw/airborne/boards/umarim/imu_umarim.h b/sw/airborne/boards/umarim/imu_umarim.h
diff --git a/sw/airborne/booz/test/Makefile b/sw/airborne/booz/test/Makefile
diff --git a/sw/airborne/booz/test/booz2_test_crista.c b/sw/airborne/booz/test/booz2_test_crista.c
diff --git a/sw/airborne/booz/test/booz2_test_max1168.c b/sw/airborne/booz/test/booz2_test_max1168.c
diff --git a/sw/airborne/booz/test/booz2_test_micromag.c b/sw/airborne/booz/test/booz2_test_micromag.c
diff --git a/sw/airborne/firmwares/beth/uart_hw.h b/sw/airborne/firmwares/beth/uart_hw.h
diff --git a/sw/airborne/firmwares/fixedwing/ap_downlink.h b/sw/airborne/firmwares/fixedwing/ap_downlink.h
diff --git a/sw/airborne/firmwares/fixedwing/autopilot.c b/sw/airborne/firmwares/fixedwing/autopilot.c
diff --git a/sw/airborne/firmwares/fixedwing/autopilot.h b/sw/airborne/firmwares/fixedwing/autopilot.h
diff --git a/sw/airborne/firmwares/fixedwing/datalink.c b/sw/airborne/firmwares/fixedwing/datalink.c
diff --git a/sw/airborne/firmwares/fixedwing/fbw_downlink.h b/sw/airborne/firmwares/fixedwing/fbw_downlink.h
diff --git a/sw/airborne/firmwares/fixedwing/guidance/energy_ctrl.c b/sw/airborne/firmwares/fixedwing/guidance/energy_ctrl.c
diff --git a/sw/airborne/firmwares/fixedwing/guidance/guidance_common.h b/sw/airborne/firmwares/fixedwing/guidance/guidance_common.h
diff --git a/sw/airborne/firmwares/fixedwing/joystick.h b/sw/airborne/firmwares/fixedwing/joystick.h
diff --git a/sw/airborne/firmwares/fixedwing/main.c b/sw/airborne/firmwares/fixedwing/main.c
diff --git a/sw/airborne/firmwares/fixedwing/main_ap.c b/sw/airborne/firmwares/fixedwing/main_ap.c
diff --git a/sw/airborne/firmwares/fixedwing/main_ap.h b/sw/airborne/firmwares/fixedwing/main_ap.h
diff --git a/sw/airborne/firmwares/fixedwing/main_fbw.c b/sw/airborne/firmwares/fixedwing/main_fbw.c
diff --git a/sw/airborne/firmwares/fixedwing/main_fbw.h b/sw/airborne/firmwares/fixedwing/main_fbw.h
diff --git a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c
diff --git a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.h b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.h
diff --git a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c
diff --git a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.h b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.h
diff --git a/sw/airborne/firmwares/logger/main_logger.c b/sw/airborne/firmwares/logger/main_logger.c
diff --git a/sw/airborne/firmwares/motor_bench/mb_modes.c b/sw/airborne/firmwares/motor_bench/mb_modes.c
diff --git a/sw/airborne/firmwares/motor_bench/mb_modes.h b/sw/airborne/firmwares/motor_bench/mb_modes.h
diff --git a/sw/airborne/firmwares/motor_bench/mb_servo.c b/sw/airborne/firmwares/motor_bench/mb_servo.c
diff --git a/sw/airborne/firmwares/motor_bench/turntable_systime.c b/sw/airborne/firmwares/motor_bench/turntable_systime.c
diff --git a/sw/airborne/firmwares/non_ap/led_flasher/Makefile b/sw/airborne/firmwares/non_ap/led_flasher/Makefile
diff --git a/sw/airborne/firmwares/rotorcraft/autopilot.c b/sw/airborne/firmwares/rotorcraft/autopilot.c
diff --git a/sw/airborne/firmwares/rotorcraft/autopilot.h b/sw/airborne/firmwares/rotorcraft/autopilot.h
diff --git a/sw/airborne/firmwares/rotorcraft/autopilot_arming_switch.h b/sw/airborne/firmwares/rotorcraft/autopilot_arming_switch.h
diff --git a/sw/airborne/firmwares/rotorcraft/autopilot_arming_throttle.h b/sw/airborne/firmwares/rotorcraft/autopilot_arming_throttle.h
diff --git a/sw/airborne/firmwares/rotorcraft/autopilot_arming_yaw.h b/sw/airborne/firmwares/rotorcraft/autopilot_arming_yaw.h
diff --git a/sw/airborne/firmwares/rotorcraft/autopilot_rc_helpers.h b/sw/airborne/firmwares/rotorcraft/autopilot_rc_helpers.h
diff --git a/sw/airborne/firmwares/rotorcraft/datalink.c b/sw/airborne/firmwares/rotorcraft/datalink.c
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.h b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.h
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h_ref.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h_ref.c
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h_ref.h b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h_ref.h
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v_adpt.h b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v_adpt.h
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v_ref.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v_ref.c
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v_ref.h b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v_ref.h
diff --git a/sw/airborne/firmwares/rotorcraft/main.c b/sw/airborne/firmwares/rotorcraft/main.c
diff --git a/sw/airborne/firmwares/rotorcraft/main.h b/sw/airborne/firmwares/rotorcraft/main.h
diff --git a/sw/airborne/firmwares/rotorcraft/navigation.c b/sw/airborne/firmwares/rotorcraft/navigation.c
diff --git a/sw/airborne/firmwares/rotorcraft/navigation.h b/sw/airborne/firmwares/rotorcraft/navigation.h
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/quat_setpoint_int.c b/sw/airborne/firmwares/rotorcraft/stabilization/quat_setpoint_int.c
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/quat_setpoint_int.h b/sw/airborne/firmwares/rotorcraft/stabilization/quat_setpoint_int.h
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude.h
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_int.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_int.c
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.c
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.h
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.c
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.h
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_int.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_int.c
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_int.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_int.h
diff --git a/sw/airborne/firmwares/rotorcraft/telemetry.h b/sw/airborne/firmwares/rotorcraft/telemetry.h
diff --git a/sw/airborne/firmwares/tutorial/main_demo3.c b/sw/airborne/firmwares/tutorial/main_demo3.c
diff --git a/sw/airborne/firmwares/vor/Makefile b/sw/airborne/firmwares/vor/Makefile
diff --git a/sw/airborne/firmwares/vor/lpc_vor_main.c b/sw/airborne/firmwares/vor/lpc_vor_main.c
diff --git a/sw/airborne/firmwares/wind_tunnel/wt_servo.c b/sw/airborne/firmwares/wind_tunnel/wt_servo.c
diff --git a/sw/airborne/fms/Makefile b/sw/airborne/fms/Makefile
diff --git a/sw/airborne/fms/libeknav/Makefile b/sw/airborne/fms/libeknav/Makefile
diff --git a/sw/airborne/joystick.c b/sw/airborne/joystick.c
diff --git a/sw/airborne/joystick.h b/sw/airborne/joystick.h
diff --git a/sw/airborne/lisa/lisa_stm_gps_passthrough_main.c b/sw/airborne/lisa/lisa_stm_gps_passthrough_main.c
diff --git a/sw/airborne/lisa/plug_sys.c b/sw/airborne/lisa/plug_sys.c
diff --git a/sw/airborne/lisa/test/lisa_test_adxl345.c b/sw/airborne/lisa/test/lisa_test_adxl345.c
diff --git a/sw/airborne/lisa/test/lisa_test_adxl345_dma.c b/sw/airborne/lisa/test/lisa_test_adxl345_dma.c
diff --git a/sw/airborne/lisa/test/lisa_test_itg3200.c b/sw/airborne/lisa/test/lisa_test_itg3200.c
diff --git a/sw/airborne/lisa/test/lisa_test_ms2100.c b/sw/airborne/lisa/test/lisa_test_ms2100.c
diff --git a/sw/airborne/lisa/test/lisa_tunnel.c b/sw/airborne/lisa/test/lisa_tunnel.c
diff --git a/sw/airborne/lisa/test/test_board.c b/sw/airborne/lisa/test/test_board.c
diff --git a/sw/airborne/boards/lisa_l/test_baro.c → sw/airborne/lisa/test_baro_i2c.c b/sw/airborne/boards/lisa_l/test_baro.c → sw/airborne/lisa/test_baro_i2c.c
diff --git a/sw/airborne/lisa/test_uart_lisal.c b/sw/airborne/lisa/test_uart_lisal.c
diff --git a/sw/airborne/lisa/test_uart_lisam.c b/sw/airborne/lisa/test_uart_lisam.c
diff --git a/sw/airborne/math/Makefile b/sw/airborne/math/Makefile
diff --git a/sw/airborne/math/pprz_geodetic_int.h b/sw/airborne/math/pprz_geodetic_int.h
diff --git a/sw/airborne/math/pprz_orientation_conversion.c b/sw/airborne/math/pprz_orientation_conversion.c
diff --git a/sw/airborne/math/pprz_orientation_conversion.h b/sw/airborne/math/pprz_orientation_conversion.h
diff --git a/sw/airborne/mcu.c b/sw/airborne/mcu.c
diff --git a/sw/airborne/mcu.h b/sw/airborne/mcu.h
diff --git a/sw/airborne/mcu_periph/i2c.c b/sw/airborne/mcu_periph/i2c.c
diff --git a/sw/airborne/mcu_periph/i2c.h b/sw/airborne/mcu_periph/i2c.h
diff --git a/sw/airborne/mcu_periph/spi.c b/sw/airborne/mcu_periph/spi.c
diff --git a/sw/airborne/mcu_periph/spi.h b/sw/airborne/mcu_periph/spi.h
diff --git a/sw/airborne/mcu_periph/sys_time.c b/sw/airborne/mcu_periph/sys_time.c
diff --git a/sw/airborne/mcu_periph/sys_time.h b/sw/airborne/mcu_periph/sys_time.h
diff --git a/sw/airborne/mcu_periph/uart.c b/sw/airborne/mcu_periph/uart.c
diff --git a/sw/airborne/mcu_periph/uart.h b/sw/airborne/mcu_periph/uart.h
diff --git a/sw/airborne/micromag.c b/sw/airborne/micromag.c
diff --git a/sw/airborne/micromag.h b/sw/airborne/micromag.h
diff --git a/sw/airborne/modules/MPPT/MPPT.c b/sw/airborne/modules/MPPT/MPPT.c
diff --git a/sw/airborne/modules/MPPT/MPPT.h b/sw/airborne/modules/MPPT/MPPT.h
diff --git a/sw/airborne/modules/bat_checker/bat_checker.c b/sw/airborne/modules/bat_checker/bat_checker.c
diff --git a/sw/airborne/modules/benchmark/i2c_abuse_test.c b/sw/airborne/modules/benchmark/i2c_abuse_test.c
diff --git a/sw/airborne/modules/benchmark/i2c_abuse_test.h b/sw/airborne/modules/benchmark/i2c_abuse_test.h
diff --git a/sw/airborne/modules/benchmark/imu_quality_assessment.c b/sw/airborne/modules/benchmark/imu_quality_assessment.c
diff --git a/sw/airborne/arch/avr/servos_esc_hw.c → ...odules/benchmark/imu_quality_assessment.h b/sw/airborne/arch/avr/servos_esc_hw.c → ...odules/benchmark/imu_quality_assessment.h
diff --git a/sw/airborne/modules/cam_control/rotorcraft_cam.c b/sw/airborne/modules/cam_control/rotorcraft_cam.c
diff --git a/sw/airborne/modules/cam_control/rotorcraft_cam.h b/sw/airborne/modules/cam_control/rotorcraft_cam.h
diff --git a/sw/airborne/modules/cartography/photogrammetry_calculator.h b/sw/airborne/modules/cartography/photogrammetry_calculator.h
diff --git a/sw/airborne/modules/com/generic_com.c b/sw/airborne/modules/com/generic_com.c
diff --git a/sw/airborne/modules/config/config_mkk_v2.c b/sw/airborne/modules/config/config_mkk_v2.c
diff --git a/sw/airborne/modules/config/config_mkk_v2.h b/sw/airborne/modules/config/config_mkk_v2.h
diff --git a/sw/airborne/modules/core/trigger_ext.c b/sw/airborne/modules/core/trigger_ext.c
diff --git a/sw/airborne/modules/core/trigger_ext.h b/sw/airborne/modules/core/trigger_ext.h
diff --git a/sw/airborne/modules/datalink/mavlink_decoder.c b/sw/airborne/modules/datalink/mavlink_decoder.c
diff --git a/sw/airborne/modules/datalink/mavlink_decoder.h b/sw/airborne/modules/datalink/mavlink_decoder.h
diff --git a/sw/airborne/modules/datalink/xtend_rssi.c b/sw/airborne/modules/datalink/xtend_rssi.c
diff --git a/sw/airborne/modules/digital_cam/atmega_i2c_cam_ctrl.c b/sw/airborne/modules/digital_cam/atmega_i2c_cam_ctrl.c
diff --git a/sw/airborne/modules/digital_cam/led_cam_ctrl.h b/sw/airborne/modules/digital_cam/led_cam_ctrl.h
diff --git a/sw/airborne/modules/digital_cam/servo_cam_ctrl.h b/sw/airborne/modules/digital_cam/servo_cam_ctrl.h
diff --git a/sw/airborne/modules/gain_scheduling/gain_scheduling.c b/sw/airborne/modules/gain_scheduling/gain_scheduling.c
diff --git a/sw/airborne/modules/gps/gps_ubx_ucenter.c b/sw/airborne/modules/gps/gps_ubx_ucenter.c
diff --git a/sw/airborne/modules/gps/gps_ubx_ucenter.h b/sw/airborne/modules/gps/gps_ubx_ucenter.h
diff --git a/sw/airborne/modules/gsm/gsm.c b/sw/airborne/modules/gsm/gsm.c
diff --git a/sw/airborne/modules/ins/ins_arduimu.c b/sw/airborne/modules/ins/ins_arduimu.c
diff --git a/sw/airborne/modules/ins/ins_arduimu_basic.c b/sw/airborne/modules/ins/ins_arduimu_basic.c
diff --git a/sw/airborne/modules/ins/ins_xsens.c b/sw/airborne/modules/ins/ins_xsens.c
diff --git a/sw/airborne/modules/loggers/high_speed_logger_spi_link.c b/sw/airborne/modules/loggers/high_speed_logger_spi_link.c
diff --git a/sw/airborne/modules/loggers/high_speed_logger_spi_link.h b/sw/airborne/modules/loggers/high_speed_logger_spi_link.h
diff --git a/sw/airborne/modules/max3100/max3100_hw.c b/sw/airborne/modules/max3100/max3100_hw.c
diff --git a/sw/airborne/modules/max3100/max3100_hw.h b/sw/airborne/modules/max3100/max3100_hw.h
diff --git a/sw/airborne/modules/meteo/charge_sens.c b/sw/airborne/modules/meteo/charge_sens.c
diff --git a/sw/airborne/modules/meteo/dust_gp2y.c b/sw/airborne/modules/meteo/dust_gp2y.c
diff --git a/sw/airborne/modules/meteo/geiger_counter.c b/sw/airborne/modules/meteo/geiger_counter.c
diff --git a/sw/airborne/modules/meteo/humid_dpicco.c b/sw/airborne/modules/meteo/humid_dpicco.c
diff --git a/sw/airborne/modules/meteo/humid_dpicco.h b/sw/airborne/modules/meteo/humid_dpicco.h
diff --git a/sw/airborne/modules/meteo/humid_htm_b71.c b/sw/airborne/modules/meteo/humid_htm_b71.c
diff --git a/sw/airborne/modules/meteo/humid_pcap01.c b/sw/airborne/modules/meteo/humid_pcap01.c
diff --git a/sw/airborne/modules/meteo/humid_pcap01.h b/sw/airborne/modules/meteo/humid_pcap01.h
diff --git a/sw/airborne/modules/meteo/humid_sht_i2c.c b/sw/airborne/modules/meteo/humid_sht_i2c.c
diff --git a/sw/airborne/modules/meteo/ir_mlx.c b/sw/airborne/modules/meteo/ir_mlx.c
diff --git a/sw/airborne/modules/meteo/ir_mlx.h b/sw/airborne/modules/meteo/ir_mlx.h
diff --git a/sw/airborne/modules/meteo/temp_lm75.c b/sw/airborne/modules/meteo/temp_lm75.c
diff --git a/sw/airborne/modules/meteo/temp_temod.c b/sw/airborne/modules/meteo/temp_temod.c
diff --git a/sw/airborne/modules/meteo/temp_tmp102.c b/sw/airborne/modules/meteo/temp_tmp102.c
diff --git a/sw/airborne/modules/meteo/wind_gfi.c b/sw/airborne/modules/meteo/wind_gfi.c
diff --git a/sw/airborne/modules/meteo/windturbine.c b/sw/airborne/modules/meteo/windturbine.c
diff --git a/sw/airborne/modules/nav/nav_catapult.c b/sw/airborne/modules/nav/nav_catapult.c
diff --git a/sw/airborne/modules/nav/nav_catapult.h b/sw/airborne/modules/nav/nav_catapult.h
diff --git a/sw/airborne/modules/optical_flow/px4flow.c b/sw/airborne/modules/optical_flow/px4flow.c
diff --git a/sw/airborne/modules/optical_flow/px4flow.h b/sw/airborne/modules/optical_flow/px4flow.h
diff --git a/sw/airborne/modules/sensors/AOA_adc.c b/sw/airborne/modules/sensors/AOA_adc.c
diff --git a/sw/airborne/modules/sensors/AOA_adc.h b/sw/airborne/modules/sensors/AOA_adc.h
diff --git a/sw/airborne/modules/sensors/airspeed_amsys.c b/sw/airborne/modules/sensors/airspeed_amsys.c
diff --git a/sw/airborne/modules/sensors/airspeed_ets.c b/sw/airborne/modules/sensors/airspeed_ets.c
diff --git a/sw/airborne/modules/sensors/airspeed_ets.h b/sw/airborne/modules/sensors/airspeed_ets.h
diff --git a/sw/airborne/modules/sensors/airspeed_otf.c b/sw/airborne/modules/sensors/airspeed_otf.c
diff --git a/sw/airborne/modules/sensors/airspeed_otf.h b/sw/airborne/modules/sensors/airspeed_otf.h
diff --git a/sw/airborne/modules/sensors/alt_srf08.c b/sw/airborne/modules/sensors/alt_srf08.c
diff --git a/sw/airborne/modules/sensors/alt_srf08.h b/sw/airborne/modules/sensors/alt_srf08.h
diff --git a/sw/airborne/modules/sensors/baro_MS5534A.c b/sw/airborne/modules/sensors/baro_MS5534A.c
diff --git a/sw/airborne/modules/sensors/baro_MS5534A.h b/sw/airborne/modules/sensors/baro_MS5534A.h
diff --git a/sw/airborne/modules/sensors/baro_amsys.c b/sw/airborne/modules/sensors/baro_amsys.c
diff --git a/sw/airborne/modules/sensors/baro_bmp.c b/sw/airborne/modules/sensors/baro_bmp.c
diff --git a/sw/airborne/modules/sensors/baro_board_module.h b/sw/airborne/modules/sensors/baro_board_module.h
diff --git a/sw/airborne/modules/sensors/baro_ets.c b/sw/airborne/modules/sensors/baro_ets.c
diff --git a/sw/airborne/modules/sensors/baro_hca.c b/sw/airborne/modules/sensors/baro_hca.c
diff --git a/sw/airborne/modules/sensors/baro_ms5611_i2c.c b/sw/airborne/modules/sensors/baro_ms5611_i2c.c
diff --git a/sw/airborne/modules/sensors/baro_ms5611_i2c.h b/sw/airborne/modules/sensors/baro_ms5611_i2c.h
diff --git a/sw/airborne/modules/sensors/baro_scp.c b/sw/airborne/modules/sensors/baro_scp.c
diff --git a/sw/airborne/modules/sensors/baro_scp_i2c.c b/sw/airborne/modules/sensors/baro_scp_i2c.c
diff --git a/sw/airborne/modules/sensors/ezcurrent.c b/sw/airborne/modules/sensors/ezcurrent.c
diff --git a/sw/airborne/modules/sensors/imu_aspirin2.c b/sw/airborne/modules/sensors/imu_aspirin2.c
diff --git a/sw/airborne/modules/sensors/imu_ppzuav.c b/sw/airborne/modules/sensors/imu_ppzuav.c
diff --git a/sw/airborne/modules/sensors/imu_ppzuav.h b/sw/airborne/modules/sensors/imu_ppzuav.h
diff --git a/sw/airborne/modules/sensors/mag_hmc58xx.c b/sw/airborne/modules/sensors/mag_hmc58xx.c
diff --git a/sw/airborne/modules/sensors/mag_hmc58xx.h b/sw/airborne/modules/sensors/mag_hmc58xx.h
diff --git a/sw/airborne/modules/sensors/met_module.h b/sw/airborne/modules/sensors/met_module.h
diff --git a/sw/airborne/modules/sensors/pressure_board_navarro.c b/sw/airborne/modules/sensors/pressure_board_navarro.c
diff --git a/sw/airborne/modules/sensors/trigger_ext.c b/sw/airborne/modules/sensors/trigger_ext.c
diff --git a/sw/airborne/modules/sensors/trigger_ext.h b/sw/airborne/modules/sensors/trigger_ext.h
diff --git a/sw/airborne/modules/sonar/sonar_adc.c b/sw/airborne/modules/sonar/sonar_adc.c
diff --git a/sw/airborne/modules/sonar/sonar_maxbotix.h → sw/airborne/modules/sonar/sonar_adc.h b/sw/airborne/modules/sonar/sonar_maxbotix.h → sw/airborne/modules/sonar/sonar_adc.h
diff --git a/sw/airborne/modules/sonar/sonar_maxbotix.c b/sw/airborne/modules/sonar/sonar_maxbotix.c
diff --git a/sw/airborne/peripherals/ads1114.c b/sw/airborne/peripherals/ads1114.c
diff --git a/sw/airborne/peripherals/ads1114.h b/sw/airborne/peripherals/ads1114.h
diff --git a/sw/airborne/peripherals/adxl345.extra_i2c.h b/sw/airborne/peripherals/adxl345.extra_i2c.h
diff --git a/sw/airborne/peripherals/adxl345.h b/sw/airborne/peripherals/adxl345.h
diff --git a/sw/airborne/peripherals/adxl345.i2c.c b/sw/airborne/peripherals/adxl345.i2c.c
diff --git a/sw/airborne/peripherals/adxl345_i2c.c b/sw/airborne/peripherals/adxl345_i2c.c
diff --git a/sw/airborne/peripherals/adxl345_i2c.h b/sw/airborne/peripherals/adxl345_i2c.h
diff --git a/sw/airborne/peripherals/adxl345_regs.h b/sw/airborne/peripherals/adxl345_regs.h
diff --git a/sw/airborne/peripherals/adxl345_spi.c b/sw/airborne/peripherals/adxl345_spi.c
diff --git a/sw/airborne/peripherals/adxl345_spi.h b/sw/airborne/peripherals/adxl345_spi.h
diff --git a/sw/airborne/peripherals/hmc5843.c b/sw/airborne/peripherals/hmc5843.c
diff --git a/sw/airborne/peripherals/hmc58xx.c b/sw/airborne/peripherals/hmc58xx.c
diff --git a/sw/airborne/peripherals/hmc58xx.h b/sw/airborne/peripherals/hmc58xx.h
diff --git a/sw/airborne/peripherals/hmc58xx_regs.h b/sw/airborne/peripherals/hmc58xx_regs.h
diff --git a/sw/airborne/peripherals/itg3200.c b/sw/airborne/peripherals/itg3200.c
diff --git a/sw/airborne/peripherals/itg3200.extra.h b/sw/airborne/peripherals/itg3200.extra.h
diff --git a/sw/airborne/peripherals/itg3200.h b/sw/airborne/peripherals/itg3200.h
diff --git a/sw/airborne/peripherals/itg3200_regs.h b/sw/airborne/peripherals/itg3200_regs.h
diff --git a/sw/airborne/peripherals/l3g4200.c b/sw/airborne/peripherals/l3g4200.c
diff --git a/sw/airborne/peripherals/l3g4200.h b/sw/airborne/peripherals/l3g4200.h
diff --git a/sw/airborne/peripherals/l3g4200_regs.h b/sw/airborne/peripherals/l3g4200_regs.h
diff --git a/sw/airborne/peripherals/max1168.c b/sw/airborne/peripherals/max1168.c
diff --git a/sw/airborne/peripherals/mcp355x.c b/sw/airborne/peripherals/mcp355x.c
diff --git a/sw/airborne/peripherals/mpl3115.c b/sw/airborne/peripherals/mpl3115.c
diff --git a/sw/airborne/peripherals/ms2100.c b/sw/airborne/peripherals/ms2100.c
diff --git a/sw/airborne/peripherals/ms2100.h b/sw/airborne/peripherals/ms2100.h
diff --git a/sw/airborne/peripherals/ms5611.h b/sw/airborne/peripherals/ms5611.h
diff --git a/sw/airborne/sd_card/main.c b/sw/airborne/sd_card/main.c
diff --git a/sw/airborne/state.h b/sw/airborne/state.h
diff --git a/sw/airborne/subsystems/actuators.c b/sw/airborne/subsystems/actuators.c
diff --git a/sw/airborne/subsystems/actuators.h b/sw/airborne/subsystems/actuators.h
diff --git a/sw/airborne/subsystems/actuators/actuators_asctec.c b/sw/airborne/subsystems/actuators/actuators_asctec.c
diff --git a/sw/airborne/subsystems/actuators/actuators_asctec.h b/sw/airborne/subsystems/actuators/actuators_asctec.h
diff --git a/sw/airborne/subsystems/actuators/actuators_asctec_v2.c b/sw/airborne/subsystems/actuators/actuators_asctec_v2.c
diff --git a/sw/airborne/subsystems/actuators/actuators_asctec_v2.h b/sw/airborne/subsystems/actuators/actuators_asctec_v2.h
diff --git a/sw/airborne/subsystems/actuators/actuators_mkk.c b/sw/airborne/subsystems/actuators/actuators_mkk.c
diff --git a/sw/airborne/subsystems/actuators/actuators_mkk.h b/sw/airborne/subsystems/actuators/actuators_mkk.h
diff --git a/sw/airborne/subsystems/actuators/actuators_mkk_v2.c b/sw/airborne/subsystems/actuators/actuators_mkk_v2.c
diff --git a/sw/airborne/subsystems/actuators/actuators_mkk_v2.h b/sw/airborne/subsystems/actuators/actuators_mkk_v2.h
diff --git a/sw/airborne/subsystems/actuators/actuators_skiron.c b/sw/airborne/subsystems/actuators/actuators_skiron.c
diff --git a/sw/airborne/subsystems/actuators/motor_mixing.c b/sw/airborne/subsystems/actuators/motor_mixing.c
diff --git a/sw/airborne/subsystems/ahrs.c b/sw/airborne/subsystems/ahrs.c
diff --git a/sw/airborne/subsystems/ahrs.h b/sw/airborne/subsystems/ahrs.h
diff --git a/sw/airborne/subsystems/ahrs/ahrs_aligner.c b/sw/airborne/subsystems/ahrs/ahrs_aligner.c
diff --git a/sw/airborne/subsystems/ahrs/ahrs_aligner.h b/sw/airborne/subsystems/ahrs/ahrs_aligner.h
diff --git a/sw/airborne/subsystems/ahrs/ahrs_extern_quat.c b/sw/airborne/subsystems/ahrs/ahrs_extern_quat.c
diff --git a/sw/airborne/subsystems/ahrs/ahrs_extern_quat.h b/sw/airborne/subsystems/ahrs/ahrs_extern_quat.h
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c b/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.h b/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.h
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c b/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_dcm.h b/sw/airborne/subsystems/ahrs/ahrs_float_dcm.h
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_dcm_algebra.h b/sw/airborne/subsystems/ahrs/ahrs_float_dcm_algebra.h
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_ekf.c b/sw/airborne/subsystems/ahrs/ahrs_float_ekf.c
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_lkf.c b/sw/airborne/subsystems/ahrs/ahrs_float_lkf.c